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Commit 09726e22 authored by John's avatar John :space_invader:
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emph weights, env diffs for e2 e4

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This starter code implements a baseline for lane detection and lane following control.
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## Do note:
The majority of the code that you will be working with in this starting code can be found at the path `e#/src/vehicle_drivers/gem_gnss_control/scripts`. The README within that specific directory is tailored for explaining the usage of the `gem_gnss_tracker_pid.py`+ `lane_detection.py` system.
If you want to use the baseline lane following, you will need to download the corresponding model weights as a `.pt` file. You can read the README.md at the directory mentioned in the line above for instruction on this.
The ROS environment for e2 vs e4 is very similar. There are just a few small differences, e.g., 4 arena (corner) cameras on e4 versus a front-left front-right only corner cameras on e2. The actual python code (not various CMake configs), is nearly identical, aside from potential some parameters about vehicle length/width, etc.
The majority of the code that you will be working with in this starting code can be found at the path `e2/src/vehicle_drivers/gem_gnss_control/scripts`. The README within that specific directory is tailored for explaining the usage of the `gem_gnss_tracker_pid.py`+ `lane_detection.py` system.
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You are not constrained to using a PID controller (as is done in `gem_gnss_tracker_pid.py` for lane following). We have also implemented Pure Pursuit and Stanley controllers in `gem_gnss_tracker_pp.py` and `gem_gnss_tracker_stanley_rtk.py` respectively. However, note that the Pure Pursuit and Stanley controllers do not currently support integration with the lane detection module / lane following. You would have to do some integration work (though, that should not be too hard).
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